Macros | Functions | Variables
collada_to_urdf.cpp File Reference
#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include <ros/console.h>
#include <urdf/model.h>
#include <collada_parser/collada_parser.h>
#include <urdf_parser/urdf_parser.h>
#include <assimp.hpp>
#include <aiScene.h>
#include <aiPostProcess.h>
#include <boost/program_options.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/filesystem/operations.hpp>
#include <Eigen/Geometry>
Include dependency graph for collada_to_urdf.cpp:

Go to the source code of this file.

Macros

#define DEBUG_MAT(mat)
 
#define GAZEBO_1_3
 
#define PRINT_GEOM(os, geometry)   if ( geometry->type == urdf::Geometry::MESH ) { os << "geom: name: " << ((urdf::Mesh *)geometry.get())->filename; }
 
#define PRINT_ORIGIN(os, origin)
 
#define PRINT_ORIGIN_XML(os, origin)
 

Functions

void addChildJointNamesXML (urdf::LinkConstSharedPtr link, ofstream &os)
 
void addChildLinkNamesXML (urdf::LinkConstSharedPtr link, ofstream &os)
 
void assimp_calc_bbox (string fname, float &minx, float &miny, float &minz, float &maxx, float &maxy, float &maxz)
 
void assimp_file_export (std::string fname, std::string ofname, std::string mesh_type="collada")
 
int main (int argc, char **argv)
 
void printTreeXML (urdf::LinkConstSharedPtr link, string name, string file)
 

Variables

bool add_gazebo_description = false
 
string arobot_name = ""
 
bool export_collision_mesh = false
 
string mesh_dir = "/tmp"
 
string mesh_prefix = ""
 
string output_file = ""
 
bool rotate_inertia_frame = true
 
bool use_assimp_export = false
 
bool use_same_collision_as_visual = true
 
bool use_simple_collision = false
 
bool use_simple_visual = false
 
bool use_transmission_interface = false
 

Macro Definition Documentation

#define DEBUG_MAT (   mat)
Value:
cout << "#2f((" << mat(0, 0) << " " << mat(0, 1) << " " << mat(0, 2) << ")"; \
cout << "(" << mat(1, 0) << " " << mat(1, 1) << " " << mat(1, 2) << ")"; \
cout << "(" << mat(2, 0) << " " << mat(2, 1) << " " << mat(2, 2) << "))" << endl;
#define GAZEBO_1_3

Definition at line 38 of file collada_to_urdf.cpp.

#define PRINT_GEOM (   os,
  geometry 
)    if ( geometry->type == urdf::Geometry::MESH ) { os << "geom: name: " << ((urdf::Mesh *)geometry.get())->filename; }

Definition at line 68 of file collada_to_urdf.cpp.

#define PRINT_ORIGIN (   os,
  origin 
)
Value:
os << "xyz: " << origin.position.x << " " << origin.position.y << " " << origin.position.z << " "; \
{ double r,p,y; origin.rotation.getRPY(r, p, y); \
os << "rpy: " << r << " " << p << " " << y; }
double y
r

Definition at line 57 of file collada_to_urdf.cpp.

#define PRINT_ORIGIN_XML (   os,
  origin 
)
Value:
os << "xyz=\"" << origin.position.x << " " << origin.position.y << " " << origin.position.z << "\""; \
{ double h___r, h___p, h___y; \
origin.rotation.getRPY(h___r, h___p, h___y); \
os << " rpy=\"" << h___r << " " << h___p << " " << h___y << "\""; }

Definition at line 62 of file collada_to_urdf.cpp.

Function Documentation

void addChildJointNamesXML ( urdf::LinkConstSharedPtr  link,
ofstream &  os 
)

error

Definition at line 410 of file collada_to_urdf.cpp.

void addChildLinkNamesXML ( urdf::LinkConstSharedPtr  link,
ofstream &  os 
)

Definition at line 192 of file collada_to_urdf.cpp.

void assimp_calc_bbox ( string  fname,
float &  minx,
float &  miny,
float &  minz,
float &  maxx,
float &  maxy,
float &  maxz 
)

Definition at line 111 of file collada_to_urdf.cpp.

void assimp_file_export ( std::string  fname,
std::string  ofname,
std::string  mesh_type = "collada" 
)

Definition at line 71 of file collada_to_urdf.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 534 of file collada_to_urdf.cpp.

void printTreeXML ( urdf::LinkConstSharedPtr  link,
string  name,
string  file 
)

Definition at line 515 of file collada_to_urdf.cpp.

Variable Documentation

bool add_gazebo_description = false

Definition at line 45 of file collada_to_urdf.cpp.

string arobot_name = ""

Definition at line 53 of file collada_to_urdf.cpp.

bool export_collision_mesh = false

Definition at line 50 of file collada_to_urdf.cpp.

string mesh_dir = "/tmp"

Definition at line 52 of file collada_to_urdf.cpp.

string mesh_prefix = ""

Definition at line 55 of file collada_to_urdf.cpp.

string output_file = ""

Definition at line 54 of file collada_to_urdf.cpp.

bool rotate_inertia_frame = true

Definition at line 49 of file collada_to_urdf.cpp.

bool use_assimp_export = false

Definition at line 47 of file collada_to_urdf.cpp.

bool use_same_collision_as_visual = true

Definition at line 48 of file collada_to_urdf.cpp.

bool use_simple_collision = false

Definition at line 44 of file collada_to_urdf.cpp.

bool use_simple_visual = false

Definition at line 43 of file collada_to_urdf.cpp.

bool use_transmission_interface = false

Definition at line 46 of file collada_to_urdf.cpp.



collada_urdf
Author(s): Tim Field, Rosen Diankov, Ioan Sucan , Jackie Kay
autogenerated on Wed Jul 15 2020 03:52:10